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feat(api): enforce stack constraints in stacker #17572

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feat(api): enforce stack constraints in stacker #17572

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7 changes: 4 additions & 3 deletions api/src/opentrons/protocol_engine/commands/flex_stacker/set_stored_labware.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -125,23 +125,24 @@ async def execute(
namespace=params.primaryLabware.namespace,
version=params.primaryLabware.version,
)
definition_stack = [labware_def]
lid_def: LabwareDefinition | None = None
if params.lidLabware:
lid_def, _ = await self._equipment.load_definition_for_details(
load_name=params.lidLabware.loadName,
namespace=params.lidLabware.namespace,
version=params.lidLabware.version,
)
definition_stack.insert(0, lid_def)
adapter_def: LabwareDefinition | None = None
if params.adapterLabware:
adapter_def, _ = await self._equipment.load_definition_for_details(
load_name=params.adapterLabware.loadName,
namespace=params.adapterLabware.namespace,
version=params.adapterLabware.version,
)
definition_stack.insert(-1, adapter_def)

self._state_view.labware.raise_if_stacker_labware_pool_is_not_valid(
labware_def, lid_def, adapter_def
)

# TODO: propagate the limit on max height of the stacker
initial_count = params.initialCount if params.initialCount is not None else 5
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35 changes: 35 additions & 0 deletions api/src/opentrons/protocol_engine/state/labware.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1009,6 +1009,41 @@ def raise_if_labware_incompatible_with_plate_reader(
f" maximum allowed labware height is {_PLATE_READER_MAX_LABWARE_Z_MM}mm."
)

def raise_if_stacker_labware_pool_is_not_valid(
self,
primary_labware_definition: LabwareDefinition,
lid_labware_definition: LabwareDefinition | None,
adapter_labware_definition: LabwareDefinition | None,
) -> None:
"""Raise if the primary, lid, and adapter do not go together."""
if lid_labware_definition:
if not labware_validation.validate_definition_is_lid(
lid_labware_definition
):
raise errors.LabwareCannotBeStackedError(
f"Labware {lid_labware_definition.parameters.loadName} cannot be used as a lid in the Flex Stacker."
)
if not labware_validation.validate_labware_can_be_stacked(
lid_labware_definition, primary_labware_definition.parameters.loadName
):
raise errors.LabwareCannotBeStackedError(
f"Labware {lid_labware_definition.parameters.loadName} cannot be used as a lid for {primary_labware_definition.parameters.loadName}"
)
if adapter_labware_definition:
if not labware_validation.validate_definition_is_adapter(
adapter_labware_definition
):
raise errors.LabwareCannotBeStackedError(
f"Labware {adapter_labware_definition.parameters.loadName} cannot be used as an adapter in the Flex Stacker."
)
if not labware_validation.validate_labware_can_be_stacked(
primary_labware_definition,
adapter_labware_definition.parameters.loadName,
):
raise errors.LabwareCannotBeStackedError(
f"Labware {adapter_labware_definition.parameters.loadName} cannot be used as an adapter for {primary_labware_definition.parameters.loadName}"
)

def raise_if_labware_cannot_be_stacked( # noqa: C901
self, top_labware_definition: LabwareDefinition, bottom_labware_id: str
) -> None:
Expand Down
6 changes: 6 additions & 0 deletions api/tests/opentrons/protocol_engine/commands/flex_stacker/test_set_stored_labware.py
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Original file line number Diff line number Diff line change
Expand Up @@ -148,6 +148,12 @@ async def test_set_stored_labware_happypath(
).then_return((sentinel.adapter_definition, sentinel.unused))
adapter_definition = sentinel.adapter_definition
result = await subject.execute(params)
decoy.verify(
state_view.labware.raise_if_stacker_labware_pool_is_not_valid(
sentinel.primary_definition, lid_definition, adapter_definition
)
)

assert result == SuccessData(
public=SetStoredLabwareResult.model_construct(
primaryLabwareDefinition=sentinel.primary_definition,
Expand Down
189 changes: 189 additions & 0 deletions api/tests/opentrons/protocol_engine/state/test_labware_view_old.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1510,6 +1510,195 @@ def test_raise_if_labware_cannot_be_stacked_on_labware_on_adapter() -> None:
)


@pytest.mark.parametrize(
argnames=["primary_def", "lid_def", "adapter_def", "exception"],
argvalues=[
pytest.param(
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="primary"
),
stackingOffsetWithLabware={"adapter": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.lid],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="lid"
),
stackingOffsetWithLabware={"primary": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.adapter],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="adapter"
),
),
does_not_raise(),
id="all-valid-and-present",
),
pytest.param(
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="primary"
),
stackingOffsetWithLabware={"adapter": Vector(x=0, y=0, z=0)},
),
None,
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.adapter],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="adapter"
),
),
does_not_raise(),
id="adapter-valid-and-present",
),
pytest.param(
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="primary"
),
stackingOffsetWithLabware={"adapter": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.lid],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="lid"
),
stackingOffsetWithLabware={"primary": Vector(x=0, y=0, z=0)},
),
None,
does_not_raise(),
id="lid-valid-and-present",
),
pytest.param(
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="primary"
),
stackingOffsetWithLabware={"adapter": Vector(x=0, y=0, z=0)},
),
None,
None,
does_not_raise(),
id="primary-only",
),
pytest.param(
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="primary"
),
stackingOffsetWithLabware={"adapter": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.lid],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="lid"
),
stackingOffsetWithLabware={"uhoh": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.adapter],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="adapter"
),
),
pytest.raises(errors.LabwareCannotBeStackedError),
id="lid-may-not-stack-on-primary",
),
pytest.param(
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="primary"
),
stackingOffsetWithLabware={"uhoh": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.lid],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="lid"
),
stackingOffsetWithLabware={"primary": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.adapter],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="adapter"
),
),
pytest.raises(errors.LabwareCannotBeStackedError),
id="primary-may-not-stack-on-adapter",
),
pytest.param(
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="primary"
),
stackingOffsetWithLabware={"adapter": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.lid],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="lid"
),
stackingOffsetWithLabware={"primary": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="adapter"
),
),
pytest.raises(errors.LabwareCannotBeStackedError),
id="adapter-wrong-role",
),
pytest.param(
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="primary"
),
stackingOffsetWithLabware={"adapter": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.labware],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="lid"
),
stackingOffsetWithLabware={"primary": Vector(x=0, y=0, z=0)},
),
LabwareDefinition2.model_construct( # type: ignore[call-arg]
allowedRoles=[LabwareRole.adapter],
parameters=Parameters2.model_construct( # type: ignore[call-arg]
loadName="adapter"
),
),
pytest.raises(errors.LabwareCannotBeStackedError),
id="lid-wrong-role",
),
],
)
def test_stacker_labware_pool_passes_or_raises(
primary_def: LabwareDefinition,
lid_def: LabwareDefinition | None,
adapter_def: LabwareDefinition | None,
exception: ContextManager[None],
) -> None:
"""It should raise if a stacker labware pool configuration is invalid."""
subject = get_labware_view()
with exception:
subject.raise_if_stacker_labware_pool_is_not_valid(
primary_def, lid_def, adapter_def
)


@pytest.mark.parametrize(
argnames=[
"allowed_roles",
Expand Down
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